SOFTCLAW —
5
3 Technical data
3.1 Mechanical dimensions
The
figure below
shows the overall dimensions of the qb SoftClaw;
distances and
tolerances in the
drawing are noted in
millimeters [mm] and degrees [°].
For this SVG the export flag is not set!
3.2 Center of Mass
The following table gives also the position of the Center of Mass of the SoftClaw and defines its Coordinate
System, like depicted in the following schemes.
UNIT
LEFT
CoM x coordinate,
O
TX
[mm]
- 1
CoM y coordinate,
O
TY
[mm]
1
CoM z coordinate,
O
TZ
[mm]
53
Weight
[kg]
0.780
Center of Mass, O
T
, is evaluated w.r.t.
Σ
M
considering the device mounted with its fixed finger facing the
ground, cf. the figures below.
Be aware that the above figure may be out of scale.
All coordinate systems here described follow the orthogonal right-hand rule.
